# MIT License
#
# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
# Stachniss.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
import numpy as np
from kiss_icp.pybind import kiss_icp_pybind


def voxel_down_sample(points: np.ndarray, voxel_size: float):
    if points.shape[1] == 3:
        eigen_points = kiss_icp_pybind._Vector3dVector(points)
    elif points.shape[1] == 4:
        eigen_points = kiss_icp_pybind._Vector4dVector(points)
    # elif points.shape[1] == kiss_icp_pybind._point_size():
    #     eigen_points = kiss_icp_pybind._VectorNdVector(points)
    elif points.shape[1] > 3:
        eigen_points = kiss_icp_pybind._VectorXdVector(points)
    else:
        raise ValueError("Invalid shape")

    return np.asarray(kiss_icp_pybind._voxel_down_sample(eigen_points, voxel_size))
